From f6231f2585675feeadad9a95dc4e9c011c099431 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 15 Nov 2023 17:25:33 +0000
Subject: [PATCH] Declare wraparound_joint outside of trajectory class

---
 .../trajectory.hpp                            | 23 +++++++++----------
 .../src/trajectory.cpp                        |  2 +-
 2 files changed, 12 insertions(+), 13 deletions(-)

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
index a994b7fe5e..b00d79481c 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
@@ -58,18 +58,6 @@ class Trajectory
     const trajectory_msgs::msg::JointTrajectoryPoint & current_point,
     const std::vector<bool> & joints_angle_wraparound = std::vector<bool>());
 
-  /**
-   * \param current_position The current position given from the controller, which will be adapted.
-   * \param next_position Next position from which to compute the wraparound offset, i.e.,
-   *      the first trajectory point
-   * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that
-   * wrap around (ie. is continuous).
-   */
-  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
-  void wraparound_joint(
-    std::vector<double> & current_position, const std::vector<double> next_position,
-    const std::vector<bool> & joints_angle_wraparound);
-
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   void update(std::shared_ptr<trajectory_msgs::msg::JointTrajectory> joint_trajectory);
 
@@ -206,6 +194,17 @@ inline std::vector<size_t> mapping(const T & t1, const T & t2)
   return mapping_vector;
 }
 
+/**
+ * \param current_position The current position given from the controller, which will be adapted.
+ * \param next_position Next position from which to compute the wraparound offset, i.e.,
+ *      the first trajectory point
+ * \param joints_angle_wraparound Vector of boolean where true value corresponds to a joint that
+ * wrap around (ie. is continuous).
+ */
+void wraparound_joint(
+  std::vector<double> & current_position, const std::vector<double> next_position,
+  const std::vector<bool> & joints_angle_wraparound);
+
 }  // namespace joint_trajectory_controller
 
 #endif  // JOINT_TRAJECTORY_CONTROLLER__TRAJECTORY_HPP_
diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp
index 143d547a55..0ed7f2ff13 100644
--- a/joint_trajectory_controller/src/trajectory.cpp
+++ b/joint_trajectory_controller/src/trajectory.cpp
@@ -57,7 +57,7 @@ void Trajectory::set_point_before_trajectory_msg(
     joints_angle_wraparound);
 }
 
-void Trajectory::wraparound_joint(
+void wraparound_joint(
   std::vector<double> & current_position, const std::vector<double> next_position,
   const std::vector<bool> & joints_angle_wraparound)
 {